• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.23 no.4
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• pp.189-196
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• 2023

As the manufacturing paradigm shifts, various collaborative robots are creating new markets. Demand for collaborative robots is increasing in all industries for the purpose of easy operation, productivity improvement, and replacement of manpower who do simple tasks compared to existing industrial robots. However, accidents frequently occur during work caused by collaborative robots in industrial sites, threatening the safety of workers. In order to construct an industrial site through robots in a human-centered environment, the safety of workers must be guaranteed, and there is a need to develop a collaborative robot guard system that provides reliable communication without the possibility of dispatch. It is necessary to double prevent accidents that occur within the working radius of cobots and reduce the risk of safety accidents through sensors and computer vision. We build a system based on OPC UA, an international protocol for communication with various industrial equipment, and propose a collaborative robot guard system through image analysis using ultrasonic sensors and CNN (Convolution Neural Network). The proposed system evaluates the possibility of robot control in an unsafe situation for a worker.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.8
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• pp.1809-1818
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• 2010

In order to detect the skin color area from input images, many prior researches have divided an image into the pixels having a skin color and the other pixels. In a still image or videos, it is very difficult to exactly extract the skin pixels because lighting condition and makeup generate a various variations of skin color. In this thesis, we propose a method that improves its performance using hierarchical merging of 3D skin color model and context informations for the images having various difficulties. We first make 3D color histogram distributions using skin color pixels from many YCbCr color images and then divide the color space into 3 layers including skin color region(Skin), non-skin color region(Non-skin), skin color candidate region (Skinness). When we segment the skin color region from an image, skin color pixel and non-skin color pixels are determined to skin region and non-skin region respectively. If a pixel is belong to Skinness color region, the pixels are divided into skin region or non-skin region according to the context information of its neighbors. Our proposed method can help to efficiently segment the skin color regions from images having many distorted skin colors and similar skin colors.

• Korean Journal of Remote Sensing
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• v.35 no.6_1
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• pp.973-985
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• 2019

In this paper, we propose a method to separate the ground and building areas and generate building models automatically through planarity analysis using UAV (Unmanned Aerial Vehicle) based point cloud. In this study, proposed method includes five steps. In the first step, the planes of the point cloud were extracted by analyzing the planarity of the input point cloud. In the second step, the extracted planes were analyzed to find a plane corresponding to the ground surface. Then, the points corresponding to the plane were removed from the point cloud. In the third step, we generate ortho-projected image from the point cloud ground surface removed. In the fourth step, the outline of each object was extracted from the ortho-projected image. Then, the non-building area was removed using the area, area / length ratio. Finally, the building's outer points were constructed using the building's ground height and the building's height. Then, 3D building models were created. In order to verify the proposed method, we used point clouds made using the UAV images. Through experiments, we confirmed that the 3D models of the building were generated automatically.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.34 no.1
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• pp.9-18
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• 2021

Recently, the rapid proliferation, introduction, and application of the fourth industrial revolution technology has emerged as a trend in the construction market. Building Information Model (BIM) technology is a multidimensional information system that forms the basis of the fourth industrial revolution technology. The river sector utilizing this information-based system is also being actively reviewed, for example, the current measures for maintenance. In recent years, active research and current work should be done to reflect the need for river experts to introduce BIM into the river field. In addition, the development of tools and support software for establishing various information systems is essential for the activation of facility maintenance information systems reflecting advanced technology and to establish and operate management plans. A study on the maintenance of river facilities involves using existing drawings to build a three-dimensional (3D) information model, check the damage utilizing it, and inform it, and utilize it as the data for maintenance reinforcement. This study involved determining a method to build a river facility without the existing information system and using the property maintenance information with 3D modeling to provide a more effective and highly utilized management plan to check maintenance operations and manage damages.

• Journal of Broadcast Engineering
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• v.15 no.6
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• pp.715-722
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• 2010

As one of applications in augmented realities, this paper presents a bubble popping system utilizing a haptic vibro-tactile mouse. In this system, virtual bubbles randomly float in the 3D space. By using the vibro-tactile mouse grabbed by a user, the bubbles are popped when they are touched by the mouse in the 3D space. Then a bubble popping effect with addition mouse vibration is delivered to the user's hand through the mouse. The proposed system is developed on ARToolkit environment. Therefore, basic components such as a camera and a marker pattern are required. The systems is composed of a vibro-haptic mouse, a webcam, a marker pattern, a graphic bubble object, and graphic mouse. Mouse vibration as well as bubble fade-out effect is delivered. Therefore, the combination of visual and tactile bubble popping effects outperforms the usage of a single effect in the experience of augmented reality.

• Journal of Broadcast Engineering
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• v.25 no.5
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• pp.655-664
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• 2020

Free viewpoint image synthesis technology is one of the important technologies in the MPEG-I (Immersive) standard. RVS (Reference View Synthesizer) developed by MPEG-I and in use in MPEG group is a DIBR (Depth Information-Based Rendering) program that generates an image at a virtual (intermediate) viewpoint from multiple viewpoints' inputs. RVS uses the mesh surface method based on computer graphics, and outperforms the pixel-based ones by 2.5dB or more compared to the previous pixel method. Even though its OpenGL version provides 10 times speed up over the non OpenGL based one, it still shows a non-real-time processing speed, i.e., 0.75 fps on the two 2k resolution input images. In this paper, we analyze the internal of RVS implementation and modify its structure, achieving 34 times speed up, therefore, real-time performance (22-26 fps), through the 3 key improvements: 1) the reuse of OpenGL buffers and texture objects 2) the parallelization of file I/O and OpenGL execution 3) the parallelization of GPU shader program and buffer transfer.

• The KIPS Transactions:PartB
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• v.15B no.6
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• pp.517-526
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• 2008

Stereo vision is a fundamental method for measuring 3D structures by observing them from two cameras placed on different positions. In order to reconstruct 3D structures, it is necessary to create a disparity map from a pair of stereo images. To create a disparity map we compute the matching cost for each point correspondence and compute the disparity that minimizes the sum of the whole matching costs. In this paper, we propose a method to estimate a dense disparity map using region segmentation. We segment each scanline using region homogeneity properties. Using the segmented regions, we prohibit false matches in the stereo matching process. Disparities for pixels that failed in matching are filled by interpolating neighborhood disparities. We applied the proposed method to various stereo images of real environments. Experimental results showed that the proposed method is stable and potentially viable in practical applications.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.2
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• pp.153-162
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• 2014

As CCTVs are widely utilized in diverse fields, many researchers have continuously studied to improve the surveillance performances of a CCTV system. However, an quantitative evaluation approach about the surveillance performance has rarely been researched. Therefore, we set up the research for suggesting a quantitative evaluation approach to determine the effectiveness of CCTV coverages. We firstly defined the surveillance resolution as that varies according to object's positions and orientations. Based on the definition, we computed surveillance resolution values at all three-dimensional positions with the orientations of interests in the specified space. By comparing these values to the required reasonable resolution, we determined the surveillance performance index indicating how well a CCTV system monitor a target space for specific surveillance objectives. This proposed approach evaluates the surveillance performance of a CCTV system quantitatively, so as examines the CCTV system design before its installation based on precise 3D spatial analysis.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.4
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• pp.49-58
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• 2011

Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. The traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D features to its feature map, and these then provide registration even when the reference map is out of the sensing range. In this paper, we describe a real-time camera tracking framework specifically designed to track a monocular camera in a desktop workspace. Basic idea of the proposed scheme is that a real-time camera tracking is achieved on the basis of a plane tracking algorithm. Also we suggest a method for re-detecting features to maintain registration of virtual objects. The proposed method can cope with the problem that the features cannot be tracked, when they go out of the sensing range. The main advantage of the proposed system are not only low computational cost but also convenient. It can be applicable to an augmented reality system for mobile computing environment.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.36 no.6
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• pp.381-389
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• 2023

One of the crucial components in building information modeling (BIM) is data. To systematically manage these data, various research studies have focused on the creation of object breakdown structures and property sets. Specifically, crucial data for managing programs and payments involves work breakdown structures (WBSs) and cost breakdown structures (CBSs), which are indispensable for mapping BIM objects. Achieving this requires disassembling CBS quantities based on 3D objects and WBS. However, this task is highly tedious owing to the large volume of CBS and divergent coding practices employed by different organizations. Manual processes, such as those based on Excel, become nearly impossible for such extensive tasks. In response to the challenge of computing quantities that are difficult to derive from BIM objects, this study presents methods for disassembling length-based quantities, incorporating significant portions of the bill of quantities (BOQs). The proposed approach recommends suitable CBS by leveraging the accumulated history of WBS-CBS mapping databases. Additionally, it establishes a unified CBS code, facilitating the effective operation of CBS databases.